JP2011075300A - Optimal position calculation device, and method and program for calculation optimal position - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technique for displaying at an optional timing highly accurate aircraft information with a smooth track. <P>SOLUTION: The optimal position calculation device 20 is equipped with: an aircraft information memory unit 210 storing the aircraft information based on observation data observed by each of a plurality of sensors; a priority sensor information memory unit 200 for storing the priority sensor information for specifying 2 or more sensors among the plurality of the sensors as priority sensors by corresponding to each of observation areas; a sensor selection unit 240 (aircraft information extraction unit) for extracting the aircraft information based on the newest observation data observed by the priority sensor among the plurality of the aircraft information based on the priority sensor information at the renewal timing of the display position of the aircraft; an optimal position calculation unit 250 for calculating the optimal position of the aircraft at the renewal timing based on the extracted aircraft information; and a display unit 260 (output unit) for outputting the optimal position. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an optimum position calculation device, an optimum position calculation method, and a program.

  In an RDP system (Radar Data Processing system / aircraft radar information processing system), which is a system for monitoring an aircraft, a technique for tracking an aircraft as a target by multi-sensors is known. In the observation of an aircraft by a multi-sensor, as shown in FIG. 15, one aircraft is observed by a plurality of sensors.

  As shown in FIG. 16, an RDP system to which such a multi-sensor is applied includes a plurality of sensors (also referred to as radar and radar site), a plurality of TCUs (Tracking Control Units), a CPU (Central Processing Unit / A central processing unit) and a plurality of DCUs (Display Control Units).

  Each sensor supplies observation data to each TCU at a predetermined cycle. The observation data is raw information before tracking the aircraft, and is information including aircraft identification information (identification information generated by each aircraft, hereinafter referred to as “aircraft identification information”) and the position of the aircraft. Each sensor supplies observation data to each corresponding TCU.

  Each TCU has a function of tracking each aircraft. Specifically, each TCU converts observation data input from each sensor into RDP system coordinates, and tracks the aircraft by an αβ tracking method. That is, each time the observation data is acquired from each sensor, each TCU generates aircraft information and supplies it to the CPU. The aircraft information is information related to the tracking result of the aircraft, and is information including aircraft identification information and the position of the aircraft. The position of the aircraft is, for example, the previous observation position or the current observation position.

  The CPU acquires aircraft information from each TCU. For example, aircraft information is acquired from a plurality of TCUs for a certain aircraft. The CPU selects a sensor having the highest observation accuracy based on the position of the aircraft included in the aircraft information, and supplies aircraft information based on observation data observed by the selected sensor having the highest observation accuracy to each DCU. Each DCU displays the aircraft information selected by the CPU on the display device.

  Currently, each TCU supplies the aircraft information to the CPU every 10 seconds. However, the timing at which each TCU supplies the aircraft information to the CPU depends on each sensor corresponding to each TCU. The timing for acquiring aircraft information from each TCU does not match. The CPU performs the same aircraft determination using aircraft information acquired from a plurality of TCUs. However, since the timing for acquiring aircraft information from each TCU does not match as described above, the CPU uses the same aircraft information acquired during a certain period. The machine is being judged.

  Specifically, as shown in FIG. 17, the CPU responds to a priority sensor in other words, triggered by acquisition of observation data by a sensor (hereinafter referred to as a “priority sensor”) that has the highest observation accuracy. In response to the acquisition of aircraft information from the TCU, the position at the end time is predicted using the aircraft information acquired from each TCU within the period (hereinafter, the process is referred to as “extrapolation”). Using the extrapolated position, the CPU recognizes a set of predicted positions that exist within a distance of a radius of 5 NM (Nautical Miles) as a set of predicted positions related to the same machine. For example, in the example of FIG. 17, the CPU is a set of predicted positions related to the same aircraft, the position predicted using the aircraft information acquired from TCU1 and the position predicted using the aircraft information acquired from TCU3. recognize.

  As a result of the same aircraft determination, the CPU defines in advance when a plurality of aircraft information exists in a set of predicted positions related to the same aircraft, that is, when a plurality of aircraft information is recognized as aircraft information related to the same aircraft. Based on the information related to the priority sensor, the TCU with the highest accuracy (TCU corresponding to the priority sensor) is selected for offline evaluation, and the aircraft information from the selected TCU is adopted as the aircraft information with the highest accuracy. However, when the aircraft information is not acquired from the TCU corresponding to the priority sensor, the CPU selects the TCU corresponding to the semi-priority site that is the second most accurate sensor, and the aircraft information from the selected TCU. Is adopted. For example, in the example of FIG. 18, when A is a priority radar site and B is a semi-priority radar site, when aircraft information is acquired from a TCU corresponding to A, the TCU corresponding to A is selected and corresponding to A When aircraft information is not acquired from the TCU, the TCU corresponding to B is selected. The offline evaluation is an evaluation method for evaluating the observation accuracy of the sensor by causing the sensor to observe a target whose position is known.

  In addition to the above, in the RDP system, an error occurs due to the distance to the aircraft, the positional relationship, and problems inherent to the sensor for each sensor. Therefore, there is a method for correcting the target tracking performance and the wake. For example, for each target, one that calculates the accuracy of each sensor and assigns a sensor to be tracked has been proposed (see, for example, Patent Document 1).

JP 2005-91279 A

  However, in the above-described technology, the aircraft information update cycle in the display device corresponds to the cycle in which the sensor selected by the CPU (usually the priority sensor) supplies the observation data to the TCU, that is, the sensor selected by the CPU. There is a problem that the aircraft information cannot be displayed at an arbitrary timing because the TCU to be operated depends on the cycle of supplying the aircraft information to the CPU. For example, it is possible to simply predict the position at an arbitrary time using extrapolation processing, but it is only a linear prediction position based on the observation position, and the aircraft makes a turn, etc. If the aircraft information is present, the aircraft information is displayed at a position far from the original aircraft position. Furthermore, there is a problem that the trajectory of the aircraft is not smooth due to the difference between the observation error of the sensor before switching and the observation error of the sensor after switching at the timing when the selected sensor is switched.

  The present invention has been made in view of such a situation, and an object of the present invention is to provide a technique for displaying position information of an aircraft with high accuracy and a smooth trajectory at an arbitrary timing.

  In order to solve the above problem, an optimum position calculation apparatus according to one aspect of the present invention is aircraft information based on observation data observed by each of a plurality of sensors having unique observation timings, and identifies the sensors. An aircraft information storage unit that stores aircraft information including identification information, observation time, and observation position, and two or more sensors that prioritize the use of the observation data in one observation region among the plurality of sensors are identified as priority sensors. Priority sensor information storage for storing priority sensor information for each observation area in association with each other, and the priority sensor information stored in the priority sensor information storage at a predetermined update timing of the display position of the aircraft From the plurality of aircraft information stored in the aircraft information storage unit based on the priority sensor. An aircraft information extraction unit that extracts the aircraft information based on the latest observation data observed in this manner, and an optimal aircraft that calculates an optimal position of the aircraft at the update timing based on the aircraft information extracted by the aircraft information extraction unit A position calculation unit, and an output unit that outputs the optimum position calculated by the optimum position calculation unit.

  In the optimum position calculation device, the optimum position calculation unit may apply a Kalman filter to calculate the optimum position.

  In order to solve the above problem, the optimum position calculation apparatus according to another aspect of the present invention prioritizes the use of observation data observed by a sensor in one observation region among a plurality of sensors having unique observation timings. A priority sensor information storage unit for storing priority sensor information for identifying two or more sensors as priority sensors in association with each observation region, and aircraft information based on observation data observed by each of the plurality of sensors. And obtaining aircraft information including identification information for identifying a sensor, observation time and observation position, and observation observed by the priority sensor based on the priority sensor information stored in the priority sensor information storage unit An aircraft information determination unit for determining whether aircraft information based on the data has been acquired, and the aircraft information determination unit When it is determined that the aircraft information based on the observation data observed by the priority sensor is acquired, the optimal position of the aircraft at the time of acquiring the aircraft information is calculated, and the display position of the aircraft is determined in advance. At the update timing, an optimal position calculation unit that calculates the optimal position of the aircraft at the update timing based on the optimal position of the aircraft calculated at the time of acquisition, and the aircraft at the update timing calculated by the optimal position calculation unit And an output unit that outputs an optimum position.

  In the optimum position calculation device, the optimum position calculation unit may apply a Kalman filter to calculate the optimum position.

  In order to solve the above problem, an optimum position calculation method according to another aspect of the present invention is aircraft information based on observation data observed by each of a plurality of sensors having unique observation timing, and identifies the sensor. Aircraft information acquisition means for acquiring aircraft information including identification information, observation time and observation position, and a plurality of the aircraft information acquired by the aircraft information acquisition means at a predetermined update timing of the display position of the aircraft Among them, aircraft information extraction means for extracting the aircraft information based on the latest observation data observed by two or more priority sensors that prioritize the use of the observation data in one observation region of the plurality of sensors, Based on the aircraft information extracted by the aircraft information extraction means, at the update timing. It characterized in that it has the optimum position calculating means for calculating the optimum position of the aircraft, and an output means for outputting the optimal position calculated by the optimum position calculating means.

In order to solve the above-described problem, a program according to another aspect of the present invention provides an observation observed by each of a plurality of sensors having unique observation timings in a computer of an optimum position calculation device that outputs an optimum position of an aircraft. Aircraft information based on data, the aircraft information acquisition step for acquiring aircraft information including identification information for identifying a sensor, observation time and observation position, and at a predetermined update timing of the display position of the aircraft, the aircraft information Based on the latest observation data observed by two or more priority sensors that prioritize the use of the observation data in one observation area among the plurality of aircraft information acquired in the acquisition step. An aircraft information extraction step for extracting aircraft information; and the aircraft information extraction step. An optimal position calculating step of calculating an optimal position of the aircraft at the update timing and an output step of outputting the optimal position calculated by the optimal position calculating step based on the aircraft information extracted by It is characterized by.

  According to the present invention, it is possible to display aircraft information with high accuracy and a smooth trajectory at an arbitrary timing.

1 is a functional block diagram of an aircraft tracking system 1 according to Embodiment 1 of the present invention. 4 is an example of aircraft information stored in an aircraft information storage unit 210. 4 is an example of priority sensor information stored in a priority sensor information storage unit 200. 4 is an example of optimum position information stored in an optimum position information storage unit 220. 3 is a flowchart showing an example of the operation of the aircraft tracking system 1. 4 is an explanatory diagram for explaining the operation of the aircraft tracking system 1. FIG. 4 is an explanatory diagram for explaining the operation of the aircraft tracking system 1. FIG. 4 is an explanatory diagram for explaining the operation of the aircraft tracking system 1. FIG. 4 is an explanatory diagram for explaining the operation of the aircraft tracking system 1. FIG. 4 is an explanatory diagram for explaining the operation of the aircraft tracking system 1. FIG. It is a conceptual diagram regarding calculation of the optimal position of this embodiment. It is a functional block diagram of the aircraft tracking system 2 by Embodiment 2 of this invention. 3 is a flowchart showing an example of the operation of the aircraft tracking system 2. FIG. 5 is an explanatory diagram for explaining the operation of the aircraft tracking system 2. It is a conceptual diagram of the observation of the aircraft by a general multisensor. It is a block diagram of a general RDP system. It is a conceptual diagram of general same machine determination. It is a conceptual diagram for demonstrating a general priority sensor.

(Embodiment 1)
Hereinafter, Embodiment 1 of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the aircraft tracking system 1 according to the first embodiment of the present invention includes an aircraft observation device 10 and an optimum position calculation device 20.

  The aircraft observation apparatus 10 includes a plurality of sensors 100 (in FIG. 1, expressed as sensors 100-1, 100-2, 100-3,...), A plurality of TCUs 110 (in FIG. 1, TCUs 110-1 and TCUs 110). -2, TCU110-3, ...). The aircraft observation apparatus 10 acquires observation data of an aircraft as a target according to the update period of each sensor (a specific observation timing described later), and supplies aircraft information to the optimum position calculation apparatus 20, which will be described in detail later. .

  The optimal position calculation device 20 includes a priority sensor information storage unit 200, an aircraft information storage unit 210, an optimal position information storage unit 220, an update control unit 230, a sensor selection unit 240 (corresponding to the “aircraft information extraction unit” of the present application), An optimal position calculation unit 250 and a display unit 260 (corresponding to the “output unit” of the present application) are provided. The optimum position calculation device 20 calculates and displays the optimum position that is estimated as the optimum position of the aircraft to be displayed on the display unit 260 based on the aircraft information acquired from the aircraft observation device 10, and details will be described later. .

  Each sensor 100 in the aircraft observation apparatus 10 is a radar having a specific observation timing predetermined for each sensor, and scans the surrounding airspace at each observation timing, and aircraft identification information generated by each aircraft in flight. Observe the position of each aircraft. Each sensor supplies observation data observed at each observation timing to each TCU. The observation data is raw information before tracking the aircraft, and is information including aircraft identification information and aircraft position information (observation position).

  Each TCU 110 in the aircraft observation apparatus 10 converts observation data acquired from each sensor into RDP system coordinates, and tracks the aircraft by an αβ tracking method. That is, each TCU 110 identifies (tracks) an aircraft for each aircraft identification information emitted by each aircraft. For tracking, for example, refer to the position information acquired at the observation timing before the observation timing, calculate the speed, direction, etc., compare the predicted position of the observation timing with the observation position, and set it within a predetermined distance range. Certain position information is determined as position information related to the same aircraft. Note that the tracking method is not particularly limited to the αβ tracking method, and other known tracking methods for obtaining the position and speed of the aircraft may be used.

  In addition, each TCU 110 supplies aircraft information to the optimum position calculation device 20 when tracking an aircraft. Aircraft information is information related to the result of tracking an aircraft based on observation data, and includes sensor identification information (hereinafter referred to as “sensor identification information”), aircraft identification information, aircraft position information (observation position), and observation data. Information including acquisition time (observation time) and speed.

  The aircraft information storage unit 210 in the optimum position calculation device 20 stores aircraft information acquired from each TCU 110 in the aircraft observation device 10. For example, as shown in FIG. 2, the aircraft information storage unit 210 has aircraft identification information, acquisition time, observation position X coordinate, observation position Y coordinate, and speed as sensor information for each sensor as aircraft information. Remember.

  The priority sensor information storage unit 200 in the optimum position calculation device 20 sets priority sensor information for identifying two or more sensors that prioritize the use of observation data in one observation region among the plurality of sensors 100 as priority sensors. It is stored in association with the observation area. For example, as shown in FIG. 3, the priority sensor information storage unit 200 stores sensor identification information and area definition information for identifying a priority sensor in association with information for identifying an observation area. The observation area here is a small area obtained by dividing the monitoring target area of the aircraft tracking system 1 into a plurality of areas. The area definition information is coordinates indicating the four corners of each observation area, as shown in FIG. 3, for example. That is, based on the positional relationship of each sensor, past observation results, and the like, a plurality of sensors that are considered to be highly accurate are defined in the priority sensor information storage unit 200 for each observation region as priority sensors. In the example of FIG. 3, the number of priority sensors in each observation region is 2, but the number of priority sensors may be 3 or more. The priority sensor information storage unit 200 may store the priority order in the plurality of priority sensors.

  The update control unit 230 in the optimal position calculation device 20 controls the display position update timing, that is, the optimal position calculation timing. Specifically, the update control unit 230 notifies the sensor selection unit 240 of the update timing of the display position. Note that the display position update timing is a timing predetermined in the optimum position calculation device 20. In the present embodiment (the same applies to the second embodiment described later), the optimum position is updated at the display update timing. However, the optimum position calculation timing and the display update timing at a certain stage are not necessarily determined. There is no need to match. For example, when it is necessary to acquire the position of the aircraft at a predetermined update timing due to some necessity, the optimal position may be updated at a predetermined cycle with the same configuration as the present embodiment.

  The sensor selection unit 240 in the optimum position calculation device 20 is based on the priority sensor information stored in the priority sensor information storage unit 200 at the update timing of the display position notified from the update control unit 230, and the aircraft information storage unit Among the plurality of aircraft information stored in 210, aircraft information based on the latest observation data among aircraft information based on observation data observed by the priority sensor (hereinafter referred to as "aircraft information related to the priority sensor"), Specifically, the aircraft information related to the priority sensor not applied to the optimal position calculation, in other words, the latest information on each priority sensor among the aircraft information not applied to the calculation of the optimal position (hereinafter referred to as “the priority sensor related”). "Latest aircraft information"). Specifically, the sensor selection unit 240 selects a priority sensor from the latest position information of the aircraft stored in the aircraft information storage unit 210 and the area definition information stored in the priority sensor information storage unit 200, The latest aircraft information related to the priority sensor is extracted from the plurality of aircraft information stored in the aircraft information storage unit 210. The sensor selection unit 240 supplies the latest aircraft information related to the extracted priority sensor to the optimum position calculation unit 250.

The optimum position calculation unit 250 in the optimum position calculation device 20 calculates the optimum position for each aircraft at the update timing of the display position based on the aircraft information extracted by the sensor selection unit 240, and shows the calculated optimum position. The position information is stored in the optimum position information storage unit 220.
The optimal position calculation unit 250 calculates the optimal position of the aircraft by applying a Kalman filter, details of which will be described later.

  The optimum position information storage unit 220 in the optimum position calculation device 20 stores the optimum position information of each aircraft calculated by the optimum position calculation unit 250. For example, as shown in FIG. 4, the optimum position information storage unit 220 stores time, X coordinate, and Y coordinate as optimum position information together with aircraft identification information for each aircraft.

  The display unit 260 in the optimal position calculation device 20 displays the optimal position calculated by the optimal position calculation unit 250. Specifically, for example, the display unit 260 reads out the optimum position information stored in the optimum position information storage unit 220, and displays the optimum position of each aircraft, for example, as shown in FIG. In addition to the optimum position, the display unit 260 may display aircraft identification information or a symbol mark indicating each aircraft according to the aircraft identification information. The display unit 260 may display the symbol mar at a position on the display screen corresponding to the optimal position instead of or in addition to the display of the optimal position.

  Subsequently, the operation of the aircraft tracking system 1 will be described with reference to FIG. FIG. 5A shows the operation of one sensor 100 (for example, sensor 100-1) and the TCU 110 (for example, TCU 110-1) corresponding to the sensor 100, and FIG. This is the operation of the apparatus 20.

  In FIG. 5A, the sensor 100-1 determines whether it is an observation timing (step S100). If the sensor 100-1 determines that it is not the observation timing (step S100: No), the sensor 100-1 waits until it is determined that it is the observation timing. On the other hand, if the sensor 100-1 determines that it is the observation timing (step S100: Yes), it observes each aircraft (step S110). Specifically, the sensor 100-1 observes the aircraft identification information emitted by each aircraft and the position of each aircraft, and supplies the observation data to the TCU 110-1.

  The TCU 110-1 generates aircraft information based on the observation data acquired from the sensor 100-1, and supplies the aircraft information to the optimum position calculation device 20 (step S110). Then, this flowchart ends. Thereby, the aircraft information supplied from the TCU 110-1 is stored in the aircraft information storage unit 210.

  The same applies to other sensors 100 different from the sensor 100-1 and other TCUs 110 different from the TCU 110-1. That is, each sensor 100 executes the processing of steps S110 and S120 in parallel at the observation timing of each sensor (step S100: Yes), and supplies aircraft information to the optimum position calculation device 20.

  In FIG.5 (b), the sensor selection part 240 judges whether it is the update timing of a display position (step S200). Specifically, when the update timing of the display position is notified from the update control unit 230, the sensor selection unit 240 determines that it is the update timing of the display position. If the sensor selection unit 240 determines that it is not the update timing of the display position (step S200: No), the sensor selection unit 240 waits until it is determined that it is the update timing of the display position. On the other hand, when the sensor selection unit 240 determines that it is the display position update timing (step S200: Yes), the sensor selection unit 240 selects one aircraft whose display position is to be updated (step S210). For example, the sensor selection unit 240 sequentially selects the aircraft from all the aircrafts (all the aircrafts in flight in the monitoring target area of the aircraft tracking system 1).

  Based on the priority sensor information stored in the priority sensor information storage unit 200, the sensor selection unit 240 that has selected the aircraft updates the latest information related to the priority sensor from among a plurality of aircraft information stored in the aircraft information storage unit 210. Aircraft information is extracted (S220). Specifically, the sensor selection unit 240 extracts all aircraft information related to priority sensors that have not been applied to the optimal position calculation related to a plurality of priority sensors. The sensor selection unit 240 that has selected the aircraft supplies the extracted latest aircraft information to the optimum position calculation unit 250.

  The optimum position calculation unit 250 that has acquired the latest aircraft information related to the priority sensor from the sensor selection unit 240, that is, all aircraft information related to the priority sensor that is not applied to the optimal position calculation, has priority that is not applied to the optimal position calculation. Based on all aircraft information related to the sensor, a Kalman filter is applied to calculate the optimum position of the aircraft at the update timing of the display position (step S230). Next, the optimum position calculation unit 250 stores the aircraft identification information of the aircraft and the optimum position information indicating the optimum position in the optimum position information storage unit 220. Next, the display unit 260 refers to the optimum position information storage unit 220 and updates the display of the optimum position of the aircraft (step S240).

  Subsequent to step S240, the sensor selection unit 240 determines whether all aircraft have been selected in step S200 of the update timing (step S250). That is, the sensor selection unit 240 determines whether or not there is an aircraft that has not been subjected to the processes in steps S210 to S240. If the sensor selection unit 240 determines that all aircraft have not been selected in step S200 of the update timing (step S250: No), the sensor selection unit 240 returns to step S210. Then, another aircraft not selected at the update timing is selected (Step S210), and Steps S220 to S240 are repeated. On the other hand, if the sensor selection unit 240 determines that all aircraft have been selected in step S200 of the update timing (step S250: Yes), this flowchart ends.

  Subsequently, the processing of the aircraft tracking system 1 will be further described using a specific example. Here, the case where the aircraft tracking system 1 calculates the optimum positions of the aircrafts V and W at the display position update timings t1, t2, and t3 as shown in FIG. 6 will be described. In FIG. 6, the X direction is, for example, the east-west direction, and the Y direction is, for example, the north-south direction. In addition, it is assumed that the aircrafts V and W are flying in the direction of the arrow with time as shown in FIG. In FIG. 6, Vt1, Vt2, Vt3, Wt1, Wt2, and Wt3 are examples of optimum positions, where Vt1 is the optimum position of the aircraft V at the update timing t1, and Vt2 is the optimum position of the aircraft V at the update timing t2. , Vt3 is the optimum position of the aircraft V at the update timing t3. The same applies to Wt1, Wt2, and Wt3.

  Aircrafts V and W are observed by three sensors a, b, and c, and the priority sensor information storage unit 200 stores the contents schematically shown in FIG. For example, it is assumed that the priority sensor information storage unit 200 stores the first priority sensor in the area A1 as the sensor a and the second priority sensor as the sensor c.

  First, in the aircraft observation apparatus 10, when each sensor 100 observes the aircrafts V and W at each observation timing, the aircraft information storage unit 210 stores the observation positions shown in FIG. 8 (FIG. 5A). Steps S100 to S120). In FIG. 8, Sva1, Sva2, and Sva3 represent observation positions among the aircraft information related to the aircraft V when the sensor a observes the aircraft V at each observation timing. Swa1, Swa2, and Swa3 represent observation positions among the aircraft information related to the aircraft W when the sensor a observes the aircraft W at each observation timing. The same applies to the sensors b and c.

  FIG. 9 shows the relationship between the observation timing of each sensor and the update timing t1, t2, t3 of the display position. The update control unit 230 notifies the sensor selection unit 240 of update timings t1, t2, and t3. In other words, the update control unit 230 selects the latest aircraft information related to the priority sensor at the update timings t1, t2, and t3, that is, extraction of all aircraft information related to the priority sensor not applied to the optimal position calculation. The unit 240 is instructed.

  The center selection unit 240 refers to the aircraft information storage unit 210 and reads the latest aircraft information related to the aircraft V. The center selection unit 240 that has read the latest aircraft information related to the aircraft V refers to the observation position in the read aircraft information and the priority sensor information storage unit 200, and identifies the priority sensor in the observation region including the observation position. The aircraft information related to the priority sensor is selected from the read aircraft information and supplied to the optimum position calculation unit 250. The same applies to the aircraft W.

  In the example shown in FIG. 9, the center selection unit 240 reads aircraft information including the observation position Svc1 observed by the sensor c between the update timing t1 and the update timing t2 as the aircraft information for the aircraft V at the update timing t2. It becomes. According to FIG. 8, Svc1 exists in area A1, and according to FIG. 7, the priority sensors in area A1 are sensor a and sensor c. Therefore, the center selection unit 240 supplies aircraft information including Svc1 to the optimum position calculation unit 250. In this case, the optimal position calculation unit 250 calculates the optimal position of the aircraft V at the update timing t2 using the aircraft information including Svc1.

  Further, for example, at the update timing t3, the center selection unit 240, as the aircraft information for the aircraft V, includes aircraft information including the observation position Sva2 observed by the sensor a between the update timing t2 and the update timing t3. The aircraft information including the observation position Svb2 observed by, and the aircraft information including the observation position Svc2 observed by the sensor c at the same time are read out. According to FIG. 8, Sva2, Svb2, and Svc2 are all present in area A1, and according to FIG. 7, the priority sensors in area A1 are sensor a and sensor c. Therefore, the center selection unit 240 supplies aircraft information including Sva2 and aircraft information including Svc2 to the optimum position calculation unit 250. In this case, the optimal position calculation unit 250 calculates the optimal position of the aircraft V at the update timing t3 using the aircraft information including Sva2 and the aircraft information including Svc2. For example, the optimal position calculation unit 250 first calculates the optimal position of the aircraft V using the aircraft information including Sva2 related to the first priority, and then uses the aircraft information including Svc2 related to the second priority to the aircraft V May be calculated.

  Further, for example, at the update timing t4 (not shown), the center selection unit 240 includes aircraft information including the observation position Swb3 observed by the sensor b between the update timing t3 and the update timing t4 as aircraft information for the aircraft W, and The aircraft information including the observation position Swc3 observed by the sensor c at the same time is read out. According to FIG. 8, both Swb3 and Swc3 exist in area B2. According to FIG. 7, the priority sensors in area B2 are sensor a and sensor c. Therefore, the center selection unit 240 supplies aircraft information including Swc3 to the optimum position calculation unit 250. In this case, the optimal position calculation unit 250 calculates the optimal position of the aircraft W at the update timing t4 using the aircraft information including Swc3. That is, since Swb3 is the observation position observed by the sensor b that is not the priority sensor, it is not used for calculating the optimum position. Further, since Swa3 is not observed for any reason, the latest observation position of sensor a is Swa2 observed between update timing t1 and update timing t2, but Swa2 is the optimum position at update timing t2. Since it is used for calculation, it is not used at the current update timing t4.

  FIG. 10 shows the relationship between the observation timing, the optimum position calculation timing, the optimum position, etc. in the examples of FIGS. In the aircraft tracking system 1, as shown in FIG. 10, the update timing of the display position can be arbitrarily set. For example, when the update timing t1 is between time No5 and time No6, the optimum position Vt1 of the update timing t1 of the aircraft V uses the observation position Sva1 where the sensor a observed the aircraft V at the observation timing No2. The optimal position Wt1 at the update timing t1 of the aircraft W is calculated using the observation position Swa1 where the sensor a observed the aircraft W at the observation timing No1 and the observation position Swc1 where the sensor c observed the aircraft W at the observation timing No5. Is done. That is, at an arbitrary update timing, the latest aircraft information related to the priority sensor, that is, all aircraft information related to the priority sensor not applied to the optimal position calculation can be extracted, and the optimal position can be calculated. In FIG. 10, shaded portions are observation positions related to the priority sensor, and bold letters are updated observation positions.

(Multi-sensor tracking algorithm (stationary Kalman filter))
Next, an optimum position calculation process by the optimum position calculation unit 250, that is, an optimum position estimation process by a multi-sensor tracking algorithm using a Kalman filter will be described.

  In general, the observation data of the sensor 100 includes an observation error. In consideration of the probabilistic nature of the observation error, a method using a filter to remove the observation error is known. This filter is an algorithm realized by software that performs some conversion on a certain input and outputs a result. As a specific example, there is a Kalman filter based on a stochastic system theory. In the aircraft tracking system 1 (the same applies to the aircraft tracking system 2 described later), a stationary Kalman filter, which is one of typical Kalman filters, is used, and the period at which the sensor 100 supplies observation data to the TCU 110, that is, the update period of each sensor. Realize multi-sensor tracking of independent aircraft.

  However, if the Kalman filter is simply applied using all the sensors 100 as input sources, the information of the sensor 100 having a large error is applied as a result, and a good tracking result cannot be obtained (fluctuation). ) Therefore, a stable tracking result is obtained by selecting a sensor with high observation accuracy for each area, that is, a priority sensor as an input source and applying a Kalman filter.

  If the system parameters do not depend on time, the Kalman filter converges to a constant coefficient filter after a sufficient observation time has elapsed. Therefore, in the state transition in the steady state, if the steady Kalman gain is obtained, it is not necessary to continuously obtain the Kalman gain in real time. In the RDP system, since the accuracy of each sensor is stable and does not depend on time for the input information, a stationary Kalman filter can be applied.

  The Kalman filter is a sequential estimation algorithm, and estimation when an observation value is entered is referred to as observation update, and estimation (prediction) when no observation value is entered is referred to as time update. Using the position, time, and speed information of the obtained observation result, the position estimated to be optimal is calculated by solving the above equation (4). The Kalman gain that defines the above equation (5) is obtained in advance as a predetermined value in the aircraft tracking system 1 (the same applies to the aircraft tracking system 2 described later) as the steady Kalman gain represented by the above equation (9). Use what you keep. Further, wt, vt, F, G, and H are constants specific to the system.

  The position that is estimated to be the optimum position of the aircraft displayed on the display unit 260, that is, the optimum position calculation unit 250 that has calculated the optimum position stores the optimum position information in the optimum position information storage unit 220 in association with the aircraft identification information. To do.

  As described above, the aircraft tracking system 1 using the stationary Kalman filter repeats the current tracking position by multiplying the error between the tracking position and the observation position at the time of the previous input by the system-specific gain, that is, the weight, as shown in FIG. Calculated. The gain is calculated in advance so as to reduce the position error when inputting data with reference to RDP.

(Embodiment 2)
In the first embodiment, the aircraft is observed at each observation timing and the optimum position at the update timing is calculated by applying the Kalman filter at the update timing of the display position. Whenever the latest aircraft information, specifically, aircraft information related to the priority sensor that has not been applied to the optimal position calculation, is acquired, the optimal position is calculated, and the optimal position calculated at each observation timing at the display position update timing. A mode in which the Kalman filter is applied and the optimum position at the update timing is calculated may be employed.

  Hereinafter, Embodiment 2 of the present invention will be described in detail with reference to the drawings. The aircraft tracking system 2 according to Embodiment 2 of the present invention includes an aircraft observation device 30 and an optimum position calculation device 40 as shown in FIG. The aircraft observation apparatus 30 includes a plurality of sensors 300 (indicated as sensors 300-1, sensor 300-2, sensor 300-3,... In FIG. 12) and a plurality of TCUs 310 (in FIG. 12, TCU 310-1, TCU 310). -2, TCU310-3, ...). The aircraft observation device 30 acquires aircraft observation data according to the update period of each sensor (a specific observation timing described later) and supplies aircraft information to the optimum position calculation device 40. The aircraft observation device 10 according to the first embodiment is described below. Therefore, detailed description is omitted.

  The optimum position calculation device 40 includes a priority sensor information storage unit 400, an optimum position information storage unit 420, an update control unit 430, a sensor selection unit 440 (corresponding to the “aircraft information determination unit” of the present application), an optimum position calculation unit 450, and A display unit 460 (corresponding to the “output unit” of the present application) is provided. The optimum position calculation device 40 calculates and displays the optimum position based on the aircraft information acquired from the aircraft observation device 30.

  Similar to the priority sensor information storage unit 200 in the optimal position calculation device 20 according to the first embodiment, the priority sensor information storage unit 400 in the optimal position calculation device 40 stores priority sensor information in association with each observation region.

  The update control unit 430 in the optimal position calculation device 40 controls display position update timing, that is, optimal position calculation timing. Specifically, the update control unit 430 notifies the optimal position calculation unit 450 of the display position update timing. Note that the display position update timing is a predetermined timing in the optimum position calculation device 40.

  The sensor selection unit 440 in the optimum position calculation device 40 acquires aircraft information from each TCU 310 in the aircraft observation device 30 and relates to the priority sensor based on the priority sensor information stored in the priority sensor information storage unit 400. It is determined whether or not the latest aircraft information, that is, aircraft information related to a priority sensor that has not been applied to the optimum position calculation has been acquired. That is, the sensor selection unit 440 refers to the priority sensor information storage unit 400 and determines whether or not the aircraft information acquired from the TCU 310 is aircraft information based on observation data observed by the priority sensor. When the sensor selection unit 440 determines that the aircraft information based on the observation data observed by the priority sensor is acquired, the sensor selection unit 440 supplies the aircraft information to the optimum position calculation unit 450.

  The optimum position calculation unit 450 in the optimum position calculation device 40 determines that the latest aircraft information related to the priority sensor has been acquired by the sensor selection unit 440, that is, the latest aircraft information related to the priority sensor from the sensor selection unit 440. When the latest aircraft information related to the priority sensor is acquired, that is, the optimal position of the aircraft at the aircraft observation timing is calculated. Specifically, the optimum position calculation unit 450 refers to the optimum position information storage unit 420 and calculates the optimum position at the observation timing based on the optimum position calculated in the past. The optimum position calculation unit 450 that has calculated the optimum position of the aircraft stores optimum position information indicating the calculated optimum position in the optimum position information storage unit 420.

  Further, the optimum position calculation unit 450 optimizes the aircraft at the display position update timing based on the optimum position information stored in the optimum position information storage unit 420 at the display position update timing notified from the update control unit 430. Calculate the position. Specifically, the optimum position calculation unit 450 refers to the optimum position information storage unit 420 and calculates the optimum position at the update timing based on each optimum position at each observation timing. The optimum position calculation unit 450 applies the Kalman filter to calculate the optimum position of the aircraft, as with the optimum position calculation unit 250 in the optimum position calculation device 20.

  The optimum position information storage unit 420 in the optimum position calculation device 40 stores the optimum position information calculated by the optimum position calculation unit 450 at the aircraft observation timing and the display position update timing. The optimum position information stored in the optimum position information storage unit 420 is composed of, for example, aircraft identification information, time, X coordinate, and Y coordinate, as with the optimum position information stored in the optimum position information storage unit 220. .

  The display unit 460 in the optimal position calculation device 40 displays the optimal position at the update timing of the display position calculated by the optimal position calculation unit 450. Specifically, for example, the display unit 460 reads the optimum position information stored at the update timing of the display position stored in the optimum position information storage unit 420 and displays the optimum position of each aircraft.

  Next, the operation of the aircraft tracking system 2 will be described with reference to FIG. FIG. 13A shows the operation of one sensor 300 (for example, sensor 300-1) of the aircraft observation apparatus 30 and the TCU 310 (for example, TCU 310-1) corresponding to the sensor 100, and FIG. The operation of the device 40. Each operation (steps S300, S310, and S320) shown in FIG. 13A is the same as each operation (steps S100, S110, and S120) of the aircraft observation apparatus 10 shown in FIG. Is omitted.

  In FIG. 13B, the sensor selection unit 440 determines whether or not the latest aircraft information related to the priority sensor, that is, aircraft information related to the priority sensor not applied to the optimal position calculation has been acquired (step S400). . Specifically, the sensor selection unit 440 refers to the priority sensor information storage unit 400, and based on the latest observation position of the observed aircraft, the aircraft information acquired from the TCU 310 is obtained by the priority sensor in the area. It is determined whether or not

  When the sensor selection unit 440 determines that the latest aircraft information related to the priority sensor has been acquired (step S400: Yes), the sensor selection unit 440 supplies the aircraft information to the optimum position calculation unit 450, and the optimum position calculation unit 450 uses the Kalman filter. Applied, the optimum position of the aircraft is calculated when the aircraft information is acquired, that is, at the observation timing of the aircraft (step S410). Specifically, when the latest position information related to the priority sensor is acquired from the sensor selection unit 440, the optimum position calculation unit 450 calculates the optimum position by observing the aircraft information and the same information until then. Then, using the past optimum position information of each aircraft stored in the optimum position information storage unit 420, a Kalman filter process is applied to calculate a new optimum position. The optimum position calculation unit 450 that has calculated the optimum position stores the aircraft identification information of the aircraft and the optimum position information indicating the optimum position in the optimum position information storage unit 420.

  On the other hand, when the sensor selection unit 440 determines that the aircraft information based on the observation data observed by the priority sensor is not acquired (step S400: No), the process skips step S410 and proceeds to step S420.

  Subsequent to step S400 (No) or step S410, the optimum position calculation unit 450 determines whether it is the update timing of the display position (step S420). If it is determined that it is not the display position update timing (step S420: No), the process returns to step S400.

  On the other hand, when it is determined that the display position update timing is reached (step S420: Yes), the optimum position calculation unit 450 selects one aircraft whose display position is to be updated (step S430). Subsequent to step S430, the optimum position calculation unit 450 applies a Kalman filter to calculate the optimum position at the update timing of the display position (step S440). That is, the optimum position calculation unit 450 calculates the optimum position using the optimum position at the observation timing of each aircraft stored in the optimum position information storage unit 420, and calculates the optimum position at the update timing. The optimum position calculation unit 450 that has calculated the optimum position stores the aircraft identification information of the aircraft and the optimum position information indicating the optimum position in the optimum position information storage unit 420. Next, the display unit 460 refers to the optimum position information storage unit 420 and updates the display of the optimum position of the aircraft at the update timing (step S450).

  Subsequent to step S450, the optimum position calculation unit 450 determines whether all aircraft have been selected in step S430 of the update timing (step S460). If the optimal position calculation unit 450 determines that all aircraft have not been selected in step S430 of the update timing (step S460: No), the process returns to step S430. Then, another aircraft not selected at the update timing is selected (step S430), and steps S440 to S460 are repeated. On the other hand, when the optimal position calculation unit 450 determines that all aircraft have been selected in step S430 of the update timing (step S460: Yes), this flowchart ends.

  FIG. 14 shows the relationship between the observation timing, the optimum position calculation timing, the optimum position, and the like in the example of FIGS. 6 to 9 in the case of the second embodiment. As shown in FIG. 14, in the case of the second embodiment, the update timing of the display position can be made arbitrary. In the case of the second embodiment, the optimal position is calculated at the acquisition timing of the latest aircraft information related to the priority sensor, that is, the aircraft information related to the priority sensor not applied to the optimal position calculation. For example, when the sensor a observes the aircraft W at the observation timing No1, the optimum position is calculated using the observation position Swa1 at the observation timing t1.

  As described above, in the second embodiment, when the aircraft information acquired when observing the aircraft is aircraft information related to a priority sensor that is not applied to the optimal position calculation, the optimal position is calculated. That is, the optimum position is calculated at the observation timing by the priority sensor. Therefore, it is possible to reduce processing at the display position update timing. Furthermore, since the optimum position is calculated each time the priority sensor observes the aircraft, it is possible to expect an effect that the shift is reduced at the update timing of the display position.

  In the second embodiment, the optimum position calculation unit 450 performs both the calculation of the optimum position at the observation timing by the priority sensor and the calculation of the optimum position at the update timing of the display position, but the optimum position at the observation timing of the aircraft by the priority sensor. An optimal position calculation unit that calculates the above and an optimal position calculation unit that calculates the optimal position at the update timing may be provided separately.

  As described above, according to the aircraft tracking system 1 including the optimal position calculation device 20 or the aircraft tracking system 2 including the optimal position calculation device 40, the update control units 230 and 430 display the update timing of the display position separately from the observation timing by the sensor. Since the control is performed, the position information of the aircraft can be provided at an arbitrary timing such as a period shorter than the observation period of the sensor. In addition, since the aircraft tracking corresponding to the different period sensor becomes possible, it becomes possible to utilize information from the sensor having a short period, and it is possible to quickly catch an aircraft such as a turn. Furthermore, since a position error can be reduced during input by selecting a priority sensor as an input source, applying a Kalman filter, and adjusting the gain, the trajectory of the aircraft becomes smooth at the timing when the sensor is switched. As a result, it is expected that the accuracy of the control instruction for the aircraft for securing and maintaining the space between the aircraft (longitudinal direction and lateral direction) will be improved, leading to more effective and safe operation of the aircraft.

  Note that a program for executing each process of the aircraft tracking systems 1 and 2 according to each embodiment of the present invention is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read by the computer system. By executing, the above-described various processes related to the aircraft tracking systems 1 and 2 according to the embodiments of the present invention may be performed. Here, the “computer system” may include an OS and hardware such as peripheral devices. Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used. The “computer-readable recording medium” means a flexible disk, a magneto-optical disk, a ROM, a writable nonvolatile memory such as a flash memory, a portable medium such as a CD-ROM, a hard disk built in a computer system, etc. This is a storage device.

  Further, the “computer-readable recording medium” means a volatile memory (for example, DRAM (Dynamic DRAM) in a computer system that becomes a server or a client when a program is transmitted through a network such as the Internet or a communication line such as a telephone line. Random Access Memory)), etc., which hold programs for a certain period of time. The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

1, 2 ... Aircraft tracking system 10, 30 ... Aircraft observation device 20, 40 ... Optimal position calculation device 100, 300 ... Sensor 110, 310 ... TCU
200, 400 ... priority sensor information storage unit 210 ... aircraft information storage unit 220, 420 ... optimum position information storage unit 230, 430 ... update control unit 240 ... sensor selection unit (aircraft information extraction unit)
250, 450 ... Optimal position calculation unit 260, 460 ... Display unit (output unit)
440 ... Sensor selection unit (aircraft information determination unit)

In order to solve the above problem, an optimum position calculation apparatus according to an aspect of the present invention is aircraft information based on observation data observed by each of a plurality of sensors having different unique observation timings, An aircraft information storage unit that stores aircraft information including identification information to be identified, observation time and observation position, and two or more sensors that prioritize the use of the observation data in one observation region among the plurality of sensors as priority sensors Priority sensor information storage unit for storing priority sensor information for identification in association with each observation area, and stored in the priority sensor information storage unit at a predetermined update timing for updating the display position of the aircraft A plurality of aircraft information stored in the aircraft information storage unit based on the priority sensor information The aircraft information extraction unit that extracts the aircraft information based on the latest observation data observed by the priority sensor, and the aircraft information at the update timing based on the aircraft information extracted by the aircraft information extraction unit An optimal position calculation unit that calculates an optimal position and an output unit that outputs the optimal position calculated by the optimal position calculation unit are provided.

In order to solve the above problem, an optimum position calculation apparatus according to another aspect of the present invention is aircraft information based on observation data observed by each of a plurality of sensors having different unique observation timings, Aircraft information acquisition means for acquiring aircraft information including identification information, observation time and observation position, and acquired by the aircraft information acquisition means at a predetermined update timing for updating the display position of the aircraft An aircraft that extracts the aircraft information based on the latest observation data observed by two or more priority sensors that prioritize the use of the observation data in one observation area among the plurality of aircraft information. Information extraction means and based on the aircraft information extracted by the aircraft information extraction means , And having the optimum position calculating means for calculating the optimum position of the aircraft in the update timing, and output means for outputting the optimal position calculated by the optimum position calculating means.

In order to solve the above problem, an optimum position calculation method according to another aspect of the present invention is aircraft information based on observation data observed by each of a plurality of sensors having different unique observation timings, Aircraft information acquisition means for acquiring aircraft information including identification information, observation time and observation position, and acquired by the aircraft information acquisition means at a predetermined update timing for updating the display position of the aircraft An aircraft that extracts the aircraft information based on the latest observation data observed by two or more priority sensors that prioritize the use of the observation data in one observation area among the plurality of aircraft information. Information extraction means and based on the aircraft information extracted by the aircraft information extraction means , And having the optimum position calculating means for calculating the optimum position of the aircraft in the update timing, and output means for outputting the optimal position calculated by the optimum position calculating means.

In order to solve the above problem, a program according to another aspect of the present invention is observed by each of a plurality of sensors having different inherent observation timings on a computer of an optimal position calculation device that outputs an optimal position of an aircraft. Aircraft information based on the observed data, the aircraft information acquisition step for acquiring the aircraft information including identification information for identifying the sensor, the observation time and the observation position, and a predetermined update for updating the display position of the aircraft Among the plurality of aircraft information acquired by the aircraft information acquisition step at the timing, the latest observed by two or more priority sensors that prioritize the use of the observation data in one observation region among the plurality of sensors. Aircraft information extracting step for extracting the aircraft information based on the observation data of the aircraft An optimal position calculating step for calculating an optimal position of the aircraft at the update timing based on the aircraft information extracted by the aircraft information extracting step, and an output for outputting the optimal position calculated by the optimal position calculating step And executing a step.

In order to solve the above problem, an optimum position calculation apparatus according to an aspect of the present invention is aircraft information based on observation data observed by each of a plurality of sensors having different unique observation timings, An aircraft information storage unit that stores aircraft information including identification information to be identified, observation time and observation position, and two or more sensors that prioritize the use of the observation data in one observation region among the plurality of sensors as priority sensors A priority sensor information storage unit that stores priority sensor information for identification in association with each observation area, and a timing for updating the display position of the aircraft , each of the observation timing periods of the plurality of sensors at a predetermined update timing in a period shorter than, and is stored in the priority sensor information storage unit Based on the serial priority sensor information, the aircraft said from a plurality of said aircraft information stored in the aircraft information storage unit, based on the unapplied observation data in the optimum position calculating observed by more than the priority sensors Calculated by an aircraft information extraction unit that extracts information, an optimal position calculation unit that calculates an optimal position of the aircraft at the update timing based on the aircraft information extracted by the aircraft information extraction unit, and the optimal position calculation unit And an output unit for outputting the optimum position.

In order to solve the above problem, the optimum position calculation apparatus according to another aspect of the present invention uses observation data observed by a sensor in one observation region among a plurality of sensors each having a different unique observation timing. Priority sensor information storage unit for storing priority sensor information for identifying two or more sensors that prioritize as priority sensors in association with each observation area, and an aircraft based on observation data observed by each of the plurality of sensors Information, which is aircraft information including identification information for identifying a sensor, observation time and observation position , and two or more of the priorities based on the priority sensor information stored in the priority sensor information storage unit An aircraft information judging unit for judging whether or not aircraft information based on observation data observed by a sensor has been acquired; If the aircraft information is determined to be acquired the aircraft information based on the observation data observed by more than the priority sensors by determining unit, calculates the optimum position of the aircraft at the time of acquisition of the aircraft information, the aircraft Based on the optimal position of the aircraft calculated at the time of acquisition at an update timing that is predetermined in a cycle shorter than the cycle of the observation timing of each of the plurality of sensors. And an optimal position calculation unit that calculates the optimal position of the aircraft at the update timing, and an output unit that outputs the optimal position of the aircraft at the update timing calculated by the optimal position calculation unit.

In order to solve the above problem, an optimum position calculation method according to another aspect of the present invention is aircraft information based on observation data observed by each of a plurality of sensors having different unique observation timings, Aircraft information acquisition means for acquiring aircraft information including identification information, observation time and observation position, and timing for updating the display position of the aircraft, the period of the observation timing of each of the plurality of sensors Prioritize the use of the observation data in one observation region of the plurality of sensors from among the plurality of aircraft information acquired by the aircraft information acquisition means at an update timing that is predetermined in a shorter cycle. wherein based on the observation data unapplied to the optimum position calculating observed by two or more priority sensors Aircraft information extracting means for extracting aircraft information, optimum position calculating means for calculating the optimum position of the aircraft at the update timing based on the aircraft information extracted by the aircraft information extracting means, and the optimum position calculating means And an output means for outputting the optimum position calculated by the above.

In order to solve the above problem, a program according to another aspect of the present invention is observed by each of a plurality of sensors having different inherent observation timings on a computer of an optimal position calculation device that outputs an optimal position of an aircraft. Aircraft information based on the observed data, aircraft information acquisition step for acquiring aircraft information including identification information for identifying the sensor, observation time and observation position, and timing for updating the display position of the aircraft , Of the plurality of aircraft information acquired by the aircraft information acquisition step, one of the plurality of sensors at an update timing predetermined in a cycle shorter than the cycle of the observation timing of each of the plurality of sensors. 2 or more priority sensors that prioritize the use of the observation data in the observation area Therefore the aircraft information extraction step of extracting said aircraft information based on the observation data of the non-applied to the observed optimal position calculated based on the aircraft information extracted by said aircraft information extraction step, the optimal aircraft in the update timing An optimum position calculating step for calculating a position and an output step for outputting the optimum position calculated by the optimum position calculating step are executed.

Claims (5)

Aircraft information based on observation data observed by each of a plurality of sensors having unique observation timings, an aircraft information storage unit for storing aircraft information including identification information for identifying the sensor, observation time, and observation position;
A priority sensor information storage unit that stores priority sensor information for identifying two or more sensors that prioritize the use of the observation data as priority sensors in one observation region among the plurality of sensors in association with each observation region; ,
Based on the priority sensor information stored in the priority sensor information storage unit at a predetermined update timing of the display position of the aircraft, from among the plurality of aircraft information stored in the aircraft information storage unit An aircraft information extraction unit that extracts the aircraft information based on the latest observation data observed by the priority sensor;
Based on the aircraft information extracted by the aircraft information extraction unit, an optimal position calculation unit that calculates the optimal position of the aircraft at the update timing;
An optimal position calculation apparatus comprising: an output unit that outputs the optimal position calculated by the optimal position calculation unit. Priority sensor information for identifying two or more sensors that prioritize the use of observation data observed by the sensor in one observation area among multiple sensors with unique observation timing as corresponding to each observation area A priority sensor information storage unit for storing information;
Aircraft information based on observation data observed by each of the plurality of sensors, the aircraft information including identification information for identifying the sensor, observation time and observation position is acquired and stored in the priority sensor information storage unit An aircraft information determination unit that determines whether or not aircraft information based on observation data observed by the priority sensor is acquired based on the priority sensor information;
When it is determined that the aircraft information based on the observation data observed by the priority sensor is acquired by the aircraft information determination unit, the optimal position of the aircraft at the time of acquiring the aircraft information is calculated, and the display position of the aircraft An optimal position calculation unit that calculates an optimal position of the aircraft at the update timing based on the optimal position of the aircraft calculated at the time of acquisition at a predetermined update timing;
An optimal position calculation apparatus comprising: an output unit that outputs an optimal position of the aircraft at the update timing calculated by the optimal position calculation unit. The optimum position calculation unit
The optimal position calculation apparatus according to claim 1, wherein the optimal position is calculated by applying a Kalman filter. Aircraft information based on observation data observed by each of a plurality of sensors having unique observation timings, aircraft information acquisition means for acquiring aircraft information including identification information for identifying the sensor, observation time and observation position;
Priority is given to the use of the observation data in one observation region of the plurality of sensors among the plurality of aircraft information acquired by the aircraft information acquisition means at a predetermined update timing of the display position of the aircraft. Aircraft information extracting means for extracting the aircraft information based on the latest observation data observed by two or more priority sensors;
Based on the aircraft information extracted by the aircraft information extraction means, optimal position calculation means for calculating the optimal position of the aircraft at the update timing;
And an output means for outputting the optimum position calculated by the optimum position calculation means. In the computer of the optimal position calculation device that outputs the optimal position of the aircraft,
Aircraft information acquisition step for acquiring aircraft information including identification information for identifying a sensor, observation time and observation position, which is aircraft information based on observation data observed by each of a plurality of sensors having unique observation timings;
Priority is given to the use of the observation data in one observation area of the plurality of sensors from among the plurality of aircraft information acquired by the aircraft information acquisition step at a predetermined update timing of the display position of the aircraft. An aircraft information extraction step of extracting the aircraft information based on the latest observation data observed by two or more priority sensors;
Based on the aircraft information extracted by the aircraft information extraction step, an optimal position calculation step of calculating an optimal position of the aircraft at the update timing;
An output step of outputting the optimum position calculated by the optimum position calculating step is executed.

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